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spencerfolk
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@@ -44,9 +44,9 @@ The output of the simulator is a dictionary containing a time vector and the tim
# Development
It is rather straightforward if you would like to add more tracking methods into the simulator. For instance, if you'd like to add a new trajectory generator or a new controller, I've added respective templates that you can use under `rotorpy/trajectories/` and `rotorpy/controllers/` to help structure your code appropriately. If you'd like to add your own wind field, you can add a new class in `rotorpy/wind/` following the template there.
It is rather straightforward if you would like to add more tracking methods into the simulator. For instance, if you'd like to add a new trajectory generator or a new controller, we've added respective templates that you can use under `rotorpy/trajectories/` and `rotorpy/controllers/` to help structure your code appropriately. If you'd like to add your own wind field, you can add a new class in `rotorpy/wind/` following the template there.
As for adding more core functionality (e.g., sensors, new vehicle dynamics, animations, etc.), those require a bit more effort to make sure that all the inputs and outputs are set up accordingly. One piece of advise is that the main loop occurs in `rotorpy/simulate.py`. Under the `while` loop, you can see the process by which the vehicle dynamics, trajectory generator, IMU sensor, and controller interface with each other.
As for adding more core functionality (e.g., sensors, new vehicle dynamics, animations, etc.), those require a bit more effort to make sure that all the inputs and outputs are set up accordingly. One piece of advice is that the main loop occurs in `rotorpy/simulate.py`. Under the `while` loop, you can see the process by which the vehicle dynamics, trajectory generator, IMU sensor, and controller interface with each other.
If you are adding new functionality, as opposed to simply adding new controllers, wind fields, or trajectories, please make a new branch before starting to make those changes.